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fatal error: tinyxml2.h during installing drcsim from source

At present i am using ros indiog and gazebo 7.4 in my ubuntu 14.04. I tried to install the drcsim from source, but i got this error:

/usr/include/gazebo-7/gazebo/util/LogPlay.hh:20:22: fatal error: tinyxml2.h: No such file or directory
 #include <tinyxml2.h>

And also is this safe to install drcsim along with privious installaion of ros indigo and gazebo 7?